2012 Fiscal Year Final Research Report
Control and Signal Processing for Multi-fingered Dual-arm Robots to Realize Dexterous Manipulations
| Project/Area Number |
21246039
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| Research Category |
Grant-in-Aid for Scientific Research (A)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Dynamics/Control
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| Research Institution | Nagoya University |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
IKEURA Ryojyun 三重大学, 大学院・工学研究科, 教授 (20232168)
MUKAI Toshiharu 理化学研究所, イノベーション推進センター, チームリーダー (80281632)
FUJIMOTO Kenji 京都大学, 大学院・工学研究科, 教授 (10293903)
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| Project Period (FY) |
2009 – 2012
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| Keywords | ロボット制御 / 多指ハンド / 運動制御 / センサ情報処理 / 学習制御 |
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| Research Abstract |
The obtained results in this study are following;
(1) some stability conditions of multi-fingered hand grasp (three-dimensional case) has been clarified theoretically, and a decision method has been proposed which searches optimal grasping positions and forces.
(2) A curved surface tactile sensor with the upper arm size has been applied to guide a nursing care robot.
(3) It has been succeeded that the single hand robot with three multi-fingers manipulates scissors and writes calligraphy and penmanship, and the dual hands robot with multi-fingered hands makes the folded paper.
(4) A dual-arm robot systemwas composed of two arm robots (each has 6 degrees of freedom) each of which has a hand with three fingers (each has 3 degrees of freedom) to be used for the practical applicationverification of issues above, but such flexibility of the fingertip and allocation of jointdegrees of freedom have emerged as new challenges.
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